Paul Riseborough
4bb46af861
AP_NavEKF2: Increase allowable gyro bias offset
2016-06-28 14:20:10 +10:00
Andrew Tridgell
af23a681e0
AP_BoardConfig: improved docs for BRD_SAFETYENABLE
2016-06-28 09:58:55 +10:00
Lucas De Marchi
1f96336f7c
Global: rename bus type enum entries
2016-06-27 17:51:41 -03:00
Gustavo Jose de Sousa
f6bebc96c0
AP_InertialSensor: INS_generic: remove unused includes
2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e85ac8b2c5
AP_InertialSensor: inform maximum gyro average difference
...
While at it, define GYRO_INIT_MAX_DIFF_DPS.
2016-06-27 17:22:43 -03:00
Gustavo Jose de Sousa
e6f62080f5
AP_InertialSensor: fix best_diff on gyro initialization
...
Without this patch, if accel_diff.length() > 0.2f and j == 0, then
best_diff[k] would be zero forever since diff_norm[k] >= 0 for any j.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
de94392759
AP_InertialSensor: MPU9250: remove _bus_type field
...
Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
83feb2e2ae
AP_InertialSensor: MPU9250: let Device handle read flag
...
There's no need to handle that in MPU9250 anymore.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
1e99a7125c
AP_InertialSensor: MPU9250: remove _register_write_check()
...
That function isn't used in the code base and there should be a better way to
debug writes on registers.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
a6e5eb9e14
AP_InertialSensor: MPU6000: remove _bus_type field
...
Use _dev->bus_type instead.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
0718649c8b
AP_InertialSensor: MPU6000: let Device handle read flag
...
There's no need to handle that in MPU6000 anymore.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
309fe4a88c
AP_InertialSensor: MPU6000: remove _register_write_check()
...
That function isn't used in the code base and there should be a better way to
debug writes on registers.
2016-06-27 17:20:51 -03:00
Gustavo Jose de Sousa
d35cf60ce1
AP_HAL_Linux: I2CDevice: use read flag in read_registers_multiple
...
Use the generic support in Device interface for read flag when we are
using read_registers_multiple() method.
2016-06-27 17:20:46 -03:00
Gustavo Jose de Sousa
66f1ad9ed0
AP_HAL: Device: add support for read flag
...
Many of our SPI and I2C sensors define the protocol of setting the most
significant bit of the register address in order to perform a read operation.
Thus, enable the use of a "read flag" that is ORed with the register's address.
Since this is an abstraction for general devices, it's a good idea to have zero
as the default value for that flag.
While at it, add documentation to read_registers().
2016-06-27 17:18:35 -03:00
Gustavo Jose de Sousa
b6a1d598e3
AP_HAL: Device: document write_register()
2016-06-27 17:18:35 -03:00
Gustavo Jose de Sousa
4693501d9d
AP_HAL: Device: add bus_type field
...
Sometimes it's necessary to know the type of bus to make some decisions where
AP_HAL::Device abstraction is used.
2016-06-27 17:18:35 -03:00
Michael du Breuil
c2da36d505
GCS_MAVLink: fix race condition when recieving last waypoint
...
only shows up when the waypoint is about to time out
2016-06-27 10:57:14 +10:00
Andrew Tridgell
689595080a
AP_Airspeed: ensure we have at least 10 samples for airspeed cal
...
thanks to Michael for pointing out this issue
2016-06-27 10:52:59 +10:00
Tom Pittenger
37f990bfad
AP_ADSB: allow param based VEHICLE list sizes, 1 to 100.
2016-06-26 11:03:33 -07:00
Lucas De Marchi
b70b9ed8d1
AP_HAL_Linux: fix warning on 64b printf
...
../../libraries/AP_HAL_Linux/Perf.cpp: In member function ‘void Linux::Perf::_debug_counters()’:
../../libraries/AP_HAL_Linux/Perf.cpp:85:36: warning: format ‘%llu’ expects argument of type ‘long long unsigned int’, but argument 4 has type ‘uint64_t {aka long unsigned int}’ [-Wformat=]
c.name, c.count);
^
2016-06-25 12:05:55 -03:00
Daniel Ricketts
865aad7598
AC_Avoid: add support for stopping at polygon fence
2016-06-25 15:55:55 +09:00
Randy Mackay
26a6234a29
AC_Avoid: do not attempt to stop at circular fence if already breached
2016-06-25 15:55:55 +09:00
Randy Mackay
c6f9889a25
AC_Avoid: constify get_max_speed
...
Also get_stopping_distance and get_margin
2016-06-25 15:55:55 +09:00
Randy Mackay
5153c3d195
AC_Fence: merge with add polygon support
2016-06-25 15:55:55 +09:00
Randy Mackay
d91805edbf
AC_Fence: add support for polygon fences
2016-06-25 15:55:55 +09:00
Randy Mackay
f0bb1ac1d2
AC_Fence: AC_Polygon_loader loads points from eeprom
...
Thanks to Peter Barker for his work to library-ify Plane's geofence which was the basis for this work.
2016-06-25 15:55:55 +09:00
Daniel Ricketts
249d95b413
AP_Math: add Polygon_outside and Polygon_complete functions
2016-06-25 15:55:55 +09:00
Leonard Hall
80bda572ba
AC_AttutudeControl: Yaw shift fix
2016-06-24 18:15:48 +09:00
Leonard Hall
a5bb3c206e
Dataflash: Log rate to degrees
2016-06-24 17:17:16 +09:00
Leonard Hall
8737f6b62d
AC_AttitudeControl: enhanced quaternion attitude controller
2016-06-24 17:17:11 +09:00
Leonard Hall
117ae89505
AC_AttitudeControl: increase SLEW_YAW default to 60deg/sec
2016-06-24 16:24:17 +09:00
Leonard Hall
e0eecd56b2
AP_Math: use is_zero and float constants
2016-06-24 16:16:34 +09:00
Leonard Hall
7f933140c7
AP_Math: small formatting fix to quaternion rotation_matrix
...
No functional change
2016-06-24 16:16:33 +09:00
Leonard Hall
8afd29cc85
AP_Math: add quaternion::rotation_matrix_norm
2016-06-24 16:16:28 +09:00
Randy Mackay
a1548405c1
AC_AttitudeControlHeli: fix althold lean angle max
2016-06-24 15:03:59 +09:00
Andrew Tridgell
1f29b51dd6
AP_Vehicle: moved roll_limit_cd into AP_Vehicle
...
will be used by APM_Control
2016-06-24 11:39:21 +10:00
Andrew Tridgell
8a03b3ba22
APM_Control: reduce elevator when past LIM_ROLL_CD
...
this reduces elevator control when rolled over hard in fixed
wing. Using the elevator when on the side just caused earth frame yaw
and is counter productive. It can also prevent some aircraft from
recovering from inverted flight.
2016-06-24 11:28:18 +10:00
Andrew Tridgell
a6e927d434
SITL: default gyro cal off in XPlane and FlightAxis
...
pointless doing cal on these backends
2016-06-24 10:32:52 +10:00
Gustavo Jose de Sousa
f9cb760691
AP_Mount: use ARRAY_SUBSCRIPT instead of bytes field
...
That fixed compilation issues and seems more semantically correct. Using array
of length 0 fails compilation because of -Werror=array-bounds in GCC 6.1.
2016-06-23 21:02:05 -03:00
Gustavo Jose de Sousa
174cefa8a5
AP_GPS: use ARRAY_SUBSCRIPT instead of bytes field
...
That fixed compilation issues and seems more semantically correct. Using array
of length 0 fails compilation because of -Werror=array-bounds in GCC 6.1.
2016-06-23 21:02:05 -03:00
Lucas De Marchi
1962acad49
AP_Common: simplify ARRAY_SUBSCRIPT macro
...
Add DEFINE prefix, since this macro is defining these operators and
remove the parameter since we will always use it to access a
union/struct as a byte array.
2016-06-23 21:02:05 -03:00
Gustavo Jose de Sousa
5154369e9d
AP_Common: define the ARRAY_SUBSCRIPT macro
2016-06-23 21:02:05 -03:00
Lucas De Marchi
4a18108600
AP_HAL_Linux: rename min, max and avg fields
...
These were probably named otherwise in order not to conflict with
min/max macros from math.h. We don't have this problem anymore.
2016-06-23 19:08:14 -03:00
Lucas De Marchi
b8e3e549c7
AP_HAL_Linux: Perf: add debug method
...
Test code for integration with another thread to pull data from internal
perf counters. Since we are using the timer thread here, there's no
retry mechanism and we only print that data can be corrupted.
2016-06-23 19:08:14 -03:00
Lucas De Marchi
1727418dc9
AP_HAL_Linux: Perf: make lttng use internal fields
...
Instead of creating a new object Perf_Lttng copying the necessaries
fields, just make a tighter integration with the internal perf counters
and re-use the same fields.
2016-06-23 19:06:30 -03:00
Lucas De Marchi
619ce23799
AP_HAL_Linux: Perf: rework integration with other tools
...
The idea is to leave the internal perf enabled all the time, like it is
in PX4, and then allow the integration with lttng on top. Next step
would be to runtime enable/disable only the perf counters we are
interested in.
This also changes the structure so it's easy to allow another thread to
pull data from the Perf object. A rw lock protects from addition of new
counters and an atomic unsigned int allows other threads to do a
lockless copy of the data.
In order for this to work the allocation was changed to use a single
memory pool instead of returning a calloc'ed data for each perf counter.
Since most of our counters are of ' elapsed' type, don't bother using a
smaller struct for the 'count' type
2016-06-23 19:06:30 -03:00
Lucas De Marchi
b687473174
AP_HAL_Linux: ignore unused result on panic
...
There's not much we can do if the write() call inside a panic function
failed. Just ignore the failure.
2016-06-23 18:34:01 -03:00
Lucas De Marchi
8a58c06adb
AP_Common: add macro to ignore unused result
...
In some cases we want to call functions annotated with
warn_unused_result but we know it's safe to ignore the return value.
Prefixing with (void) used to work, but it doesn't do anymore on all
versions of gcc and clang.
See: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=66425
This solution is a mix of the solutions provided in the above bug report
and the one provided by Gustavo Sousa at
https://github.com/ArduPilot/ardupilot/pull/4277#issuecomment-224957375
2016-06-23 18:34:01 -03:00
Francisco Ferreira
ac90527da5
AP_Common: change check from GCC version to glibc version (and Cygwin)
2016-06-23 18:19:54 +10:00
Patrick J.P
eb44d75ed8
AP_HAL: Remove trailing spaces from AP_HAL_Namespace.h
2016-06-22 16:03:30 -03:00
Randy Mackay
a427768087
AC_Avoidance: reduce maximum acceleration to 1m/s/s
...
This makes the vehicle slow very gently as it approaches the edge of the fence
2016-06-22 11:38:15 +09:00
Daniel Ricketts
8a6aa24525
AC_WPNav: use AC_Avoidance to stop at fence during Loiter
2016-06-22 11:38:15 +09:00
Daniel Ricketts
ff7bc7c0cb
AC_Avoidance: add library to stop at circular fence
2016-06-22 11:38:15 +09:00
Daniel Ricketts
e60710332b
AC_Fence: add accessors to return radius and safety margin
2016-06-22 11:38:15 +09:00
Andrew Tridgell
d1b28aaed9
AC_AttitudeControl: fixed factor of 1000 error in init_takeoff
2016-06-22 11:48:43 +10:00
Lucas De Marchi
39d4fa2cf8
Revert changes to cmath according to gcc version
...
Revert these commits:
"AP_Common: gcc 4.9.2 behaves differently from 4.9.3"
"AP_Common: this workaround for missing/cmath is also needed for gcc 4.9.3"
This breaks the build for PX4. The change is related to the libc, not
the compiler version. We have an workaround there based on compiler
version just because it's usual to have a more recent libc version when
you have a recent compiler.
2016-06-21 13:54:41 -03:00
Lucas De Marchi
9738be0ed6
AP_HAL: remove tabs and trailing whitespaces
2016-06-21 13:09:00 -03:00
Lucas De Marchi
ab66e3a69a
AP_HAL_Linux: Perf: simplify function to get current time
2016-06-21 13:09:00 -03:00
Pierre Kancir
a8e5ff93b5
AP_Math: Correct missing declaration warning
2016-06-21 12:17:46 -03:00
Lucas De Marchi
1d9d0a40db
AP_HAL_Linux: GPIO: reduce macro and variable scopes
...
Also change the coding style in a few places.
2016-06-21 12:16:32 -03:00
Lucas De Marchi
4f14b9b7e2
AP_HAL_Linux: ToneAlarm_Raspilot: add fixme comment
2016-06-21 12:16:32 -03:00
Lucas De Marchi
e122b2b651
AP_HAL: GPIO: remove unused functions
...
These functions are not used by any HAL, so remove them.
2016-06-21 12:16:32 -03:00
Lucas De Marchi
0bb86ae498
AP_HAL_Linux: GPIO_RPI: remove unused functions
...
These functions to use pins as pwm are never used in the codebase, so
remove them.
2016-06-21 12:16:32 -03:00
Andrew Tridgell
2108127712
AP_Common: gcc 4.9.2 behaves differently from 4.9.3
...
tested 4.9.3 on cygwin, 4.9.2 on ubuntu
I do hope that it doesn't depend on the OS
2016-06-21 21:34:54 +10:00
Andrew Tridgell
224c714c83
AP_Common: this workaround for missing/cmath is also needed for gcc 4.9.3
...
tested on cygwin with 4.9.3
2016-06-21 19:19:09 +10:00
Peter Barker
309ac53806
SITL: correct adsb initialisation
...
Parameters have not yet been initialised in _sitl_setup, so move
should-run checks into update
2016-06-20 18:16:34 -07:00
Andrew Tridgell
569443231a
SITL: improved altitude data in XPlane
2016-06-20 12:52:13 +10:00
Andrew Tridgell
51fff00871
SITL: report data and frame rates in XPlane
...
and avoid time going backwards if possible
2016-06-20 12:52:13 +10:00
Andrew Tridgell
b7395ee74b
SITL: fixed sign of magnetic inclination
2016-06-20 11:17:36 +10:00
Andrew Tridgell
5b7b799046
SITL: fixed mag field in JSBSim and last_letter
2016-06-20 11:07:51 +10:00
Leonard Hall
ba2382c409
AP_MotorsCoax: Fix servo 3 and 4 feed through sign
2016-06-20 09:45:17 +09:00
Andrew Tridgell
16595d2f3b
SITL: auto-set AHRS_EKF_TYPE to 10 for XPlane and FlightAxis
2016-06-20 08:38:53 +10:00
Tom Pittenger
746e2211e9
AP_ADSB: remove extra include
2016-06-19 11:24:31 -07:00
Tom Pittenger
4fe94bdea3
GCS_MAVLink: add ADSB_streamrate
2016-06-19 11:24:30 -07:00
Tom Pittenger
4cd1721bf9
AP_ADSB: add ADSB_streamrate
2016-06-19 11:24:29 -07:00
Tom Pittenger
3a38e29b39
GCS_MAVLink: do not auto-forward ADSB_VEHICLE packets
2016-06-19 11:24:29 -07:00
Andrew Tridgell
2db2486b3a
AP_AHRS: send zero EKF_STATUS_REPORT with EKF type 10
2016-06-19 22:02:25 +10:00
Andrew Tridgell
2f88c24f49
SITL: added debug showing UDP ports for XPlane
2016-06-19 21:18:19 +10:00
Andrew Tridgell
ec5534bd6a
SITL: explain the throttle_magic code for XPlane
2016-06-19 21:10:49 +10:00
Andrew Tridgell
f76a7e64ca
SITL: auto-select correct data fields from X-Plane10
2016-06-19 20:57:34 +10:00
Andrew Tridgell
acc76f80b0
HAL_SITL: added xplane support
2016-06-19 13:59:15 +10:00
Andrew Tridgell
4f99c17aae
SITL: added X-Plane 10 SITL backend
2016-06-19 13:59:15 +10:00
Andrew Tridgell
7a9b4c7572
AP_Motors: fixed motor load calculation
...
scale to 1.0 for max collective
2016-06-19 13:50:04 +10:00
Paul Riseborough
55b0bbd3f1
SITL: Add simulation of 3D earth magnetic field
...
Use an independant method to the flight code using tables that that can updated.
Data taken from NOAA online calculator using WMM data at 2016-6-16 date
2016-06-19 12:51:34 +10:00
Paul Riseborough
2cf5493b40
AP_HAL_SITL: Ensure simulated magnetic field is always used
2016-06-19 12:51:34 +10:00
Paul Riseborough
078284e2e2
SITL: Add magnetic field environment to simulation
...
Includes parameters enabling a ground level magnetic anomaly to be modelled.
TODO - add automatic setting of declination, inclination and field strength using WGS-84 position.
2016-06-19 12:51:34 +10:00
Randy Mackay
ec7c1ab0b0
AC_PosControl: comment fix to set_alt_max method
...
No functional change
2016-06-18 11:55:49 +09:00
Randy Mackay
e185bab775
AP_MotorsMulticopter: add HOVER_LEARN option to learn but not save
2016-06-18 11:55:49 +09:00
Randy Mackay
23f8227e36
AP_Motors: bug fix to save params on disarm
...
Previously was saving during arming as well as disarming.
Thanks to OXINARF for finding this!
2016-06-18 11:55:49 +09:00
Randy Mackay
a2ffd9ec7d
AP_MotorsMulticopter: fix comment for get_throttle_limit function
2016-06-18 11:55:49 +09:00
Leonard Hall
dcbb071c07
AC_PosControl: Move hover throttle calculation to AP_Motors
2016-06-18 11:55:49 +09:00
Randy Mackay
b27da7699e
AC_AttitudeControlMulti: get_throttle_avg_max made private
...
Also fixed up method's description
2016-06-18 11:55:49 +09:00
Randy Mackay
da946288a2
AC_AttitudeControl: rename throttle_ave_max to throttle_avg_max
2016-06-18 11:55:49 +09:00
Randy Mackay
570920c7d7
AC_AttitudeControlMulti: run control_monitor_update in rate_controller_run
2016-06-18 11:55:49 +09:00
Leonard Hall
1639e22b74
AC_AttitudeControl: set desired_vel for reporting purposes even when not used
2016-06-18 11:55:49 +09:00
Randy Mackay
558f29b95c
AC_AttitudeControl: control mixing made protected
2016-06-18 11:55:49 +09:00
Leonard Hall
9bd8878c8b
AC_AttitudeControlHeli: fix update_althold_lean_angle_max
2016-06-18 11:55:49 +09:00
Leonard Hall
096bdd67f8
AC_AttitudeControl: add ATC_ANG_LIM_TC parameter
...
This allow adjusting the reponse to limit lean angles to reduce altitude loss
2016-06-18 11:55:49 +09:00
Randy Mackay
dafc45eb26
AC_AttitudeControl: move get_althold_lean_angle_max to parent class
2016-06-18 11:55:49 +09:00
Leonard Hall
3d27ecca92
AC_AttitudeControl: add TC for Alt_Hold angle limit
2016-06-18 11:55:49 +09:00
Randy Mackay
7ff0fcb25d
AC_AttitudeControl: multicopter specific rate_controller_run
2016-06-18 11:55:49 +09:00
Randy Mackay
b7431b7d0c
AC_AttitudeControl: update throttle rpy mix on every iteration
2016-06-18 11:55:49 +09:00
Leonard Hall
ca2977decf
AC_AttitudeControl: set throttle vs attitude priority for flipped state
...
When performing a flip we want to allow throttle to go high to provide
maximum attitude control
2016-06-18 11:55:49 +09:00
Leonard Hall
1fb4c12cd0
AC_AttitudeControl: move in throttle vs attitude prioritisation
...
Previously this prioritisation of throttle vs attitude was done in the
AP_Motors library
2016-06-18 11:55:49 +09:00
Randy Mackay
0870ce9fc1
AC_AttitudeControl: remove get_throttle_boosted from parent class
...
This is only called from multicopters
2016-06-18 11:55:49 +09:00
Leonard Hall
25c77c154f
AC_AttitudeControl: rename get_boosted_throttle to get_throttle_boosted
2016-06-18 11:55:49 +09:00
Leonard Hall
35ef761deb
AC_AttitudeControl: Move set_throttle_out to _Multi and _Heli
2016-06-18 11:55:49 +09:00
Randy Mackay
a1b573ed0a
AP_Motors: rename throttle_ave_max to throttle_avg_max
2016-06-18 11:55:49 +09:00
Randy Mackay
ef106e4b0f
AP_Motors: spool_mode moved out of flags struction
...
No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
8fff32bde3
AP_MotorsSingle: fix stability patch use of throttle_hover
2016-06-18 11:55:49 +09:00
Leonard Hall
e0f9fc8e40
AP_MotorsSingle: rename rpy_scale, thrust_min_rpy variables
...
No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
da05902805
AP_MotorsCoax: fix stability patch use of throttle_hover
2016-06-18 11:55:49 +09:00
Leonard Hall
9bc866e771
AP_MotorsCoax: rename rpy_scale internal variable
...
No functional change
2016-06-18 11:55:49 +09:00
Leonard Hall
8bdb906b2b
AP_MotorsCoax: fixes negative thrust
2016-06-18 11:55:49 +09:00
Randy Mackay
71d1818103
AP_MotorsMulticopter: minor comment update
2016-06-18 11:55:49 +09:00
Randy Mackay
818965fa57
AP_MotorsMulticopter: output_to_motors and output_logic become protected
2016-06-18 11:55:49 +09:00
Leonard Hall
02881b59ff
AP_MotorsMulti: float constants
2016-06-18 11:55:49 +09:00
Randy Mackay
79a73a5c2f
AP_Motors: fix example sketch
...
No need to set throttle_mix nor throttle_min
2016-06-18 11:55:49 +09:00
Leonard Hall
bee6c29b89
AP_MotorsMulticopter: current limit keeps battery from sagging below BAT_VOLT_MIN
2016-06-18 11:55:49 +09:00
Leonard Hall
be25ac4acf
AP_MotorsMulticopter: Add current limit time constant variable
2016-06-18 11:55:49 +09:00
Leonard Hall
7e0e0ca874
AP_MotorsMulticopter: battery voltage compensation improvements
2016-06-18 11:55:49 +09:00
Leonard Hall
0ee7b00b0b
AP_MotorsMulticopter: rename _thrust_curve_min to spin_min
2016-06-18 11:55:49 +09:00
Leonard Hall
142a67bb6d
AP_MotorsMulticopter: minor comment change
2016-06-18 11:55:49 +09:00
Leonard Hall
5cace33ca5
AP_MotorsMulticopter: SPIN_MIN replaces min_throttle
2016-06-18 11:55:49 +09:00
Leonard Hall
2c811364d3
AP_MotorsMulticopter: SPIN_ARM param replaces SPIN_ARMED
2016-06-18 11:55:49 +09:00
Leonard Hall
488f90b39d
AP_Motors: add calc_spin_up_to_pwm to reduce repeated code
2016-06-18 11:55:49 +09:00
Randy Mackay
25778a24e2
AP_MotorsMulticopter: add HOVER_LEARN param
2016-06-18 11:55:49 +09:00
Leonard Hall
4f0db2bc36
AP_Motors: learned THST_HOVER replace THR_MID
...
This holds the estimated thrust required for the vehicle to hover
expressed as a number from 0 to 1. 0 will be equivalent to outputting
SPIN_MIN (which is a number from 0~1 but in the full output range) and 1 is equivalent to SPIN_MAX (also 0~1 but in the full output range)
2016-06-18 11:55:49 +09:00
Leonard Hall
5a8fc6283e
AP_Motors: replace throttle_rpy_mix with throttle_avg
...
AC_AttitudeControl now calculates throttle vs attitude control
prioritisation and simply provides overall maximum throttle (aka
throttle_avg) to the motors library
2016-06-18 11:55:49 +09:00
Michael du Breuil
4d964fbf2f
AP_BoardConfig: allow channels to be moved regardless of safety switch
2016-06-17 15:20:22 +10:00
Andrew Tridgell
63d0c040e4
AP_Scheduler: expose loop rate on all builds
...
as discussed with Randy
2016-06-17 15:02:28 +10:00
Andrew Tridgell
255bda9f9c
AP_Motors: allow setting of loop rate
...
this allows for SCHED_LOOP_RATE in copter
2016-06-17 15:01:18 +10:00
Andrew Tridgell
fb4cdafef8
AP_Scheduler: allow SCHED_LOOP_RATE for copter in SITL
...
very useful for slow simulation environment
2016-06-17 15:01:18 +10:00
Andrew Tridgell
e360c6117e
SITL: make SIM_* variables available to simulator backends directly
2016-06-17 08:36:13 +10:00
Grant Morphett
34fa2a39bd
AP_InertialSensor: Changing the default gyro filter from 10 to 4
...
This change is only for Rovers.
2016-06-16 14:37:55 +09:00
Tom Pittenger
1770f314ac
SITL: change SIM_ADSB default to -1 to default disabled to leave telem port available
2016-06-15 17:22:54 -07:00
Andrew Tridgell
027788f72b
SITL: fixed gimbal simulator for recent MAVLink2 changes
2016-06-16 10:17:28 +10:00
Andrew Tridgell
145ab1d626
SITL: fixed send of ADSB_Vehicle packets with recent MAVLink2 changes
2016-06-16 10:15:07 +10:00
Tom Pittenger
8036912173
AP_ADSB: clarified some minor logic
2016-06-14 21:05:44 -07:00
Tom Pittenger
0ed868d97b
SITL: compiler warning, comparing float to 0
2016-06-14 21:05:38 -07:00
Tom Pittenger
c3b241ca88
SITL: change ADSB_VEHICLE update rate to 1Hz instead of 2Hz to match PING behavior
2016-06-14 21:05:32 -07:00
Tom Pittenger
52fcc36249
AP_HAL_SITL: remove -A --adsb argument, feature is now always enabled controlled by param
2016-06-14 21:05:23 -07:00
Tom Pittenger
f2b5f5f4a5
AP_HAL_SITL: adsb is always enabled in the sim, controlled by param SIM_ADSB_COUNT
2016-06-14 21:03:30 -07:00
Tom Pittenger
95da4accfb
SITL: add SIM_ADSB_COUNT, RADIUS, ALT params
2016-06-14 21:00:39 -07:00
Tom Pittenger
ad81e56a64
AP_ADSB: allow buffer to add to the max, instead of one less than the max
2016-06-14 21:00:27 -07:00
Andrew Tridgell
120564f094
RC_Channel: set_radio() should not constrain values
...
caller is supplying direct PWM value. The MIN/MAX should not apply
2016-06-14 13:08:35 +10:00
Tom Pittenger
b4b0ec404c
GCS_MAVLink: flag a link as active if it ever sends a message
2016-06-13 18:25:26 -07:00
Andrew Tridgell
e070aeebe3
AC_AttitudeControl: added accessors for P and D RMS controller values
2016-06-10 17:48:31 +10:00
Andrew Tridgell
1c463e3f3b
AC_AttitudeControl: log rms P and D separately
...
as discussed with Leonard
2016-06-10 17:48:31 +10:00
Leonard Hall
b3fcab8044
AP_Motors: minor comment fix
2016-06-09 09:49:00 +09:00
dgrat
0b5ab7162d
AP_HAL_Linux: Changes in RPi version detection
...
If the RPi version detection fails, the standard version is now RPi2/3 instead of RPi1.
I think this is useful, because the RPi1 is not really supported (performance reasons).
2016-06-08 11:50:43 -03:00
dgrat
15a915edd3
AP_HAL_Linux: Simplification of the code
...
I applied the ArduPilot coding style guide and additionally simplified the code where possible.
2016-06-08 11:50:43 -03:00
masierra
8fc494cfcd
AP_AHRS_DCM: changed estimate to use prev values for dir & vel
2016-06-06 15:26:51 -07:00
Tom Pittenger
41c9cace68
AP_Mission: mavlink parsing should use check_lat/lng functions
2016-06-06 13:08:37 -07:00
Tom Pittenger
00aaa78757
AP_Math: add separate check_lat() and check_lng()
2016-06-06 13:02:56 -07:00
Michael du Breuil
fb07b8c4cc
Mission: fix bounds checking of MISSION_ITEM lat/lon
2016-06-06 10:08:45 -07:00
Andrew Tridgell
a06e46a84c
DataFlash: log 14 output channels in RCOU
...
unfortunately this means we need to shorten the column headers, but at
least this makes us consistent with RCIN
2016-06-06 15:14:28 +10:00
Andrew Tridgell
2239fd6a6e
AP_GPS: fixed hexdigit in NMEA detector
...
thanks to adorus for spotting this! See issue#4255
2016-06-06 07:36:31 +10:00
Andrew Tridgell
3969bde84a
AP_Math: fixed coverity warning in example
2016-06-05 07:20:46 +10:00
Andrew Tridgell
0166ab2038
HAL_SITL: check for SIM_RC_FAIL
2016-06-05 05:54:56 +10:00
Andrew Tridgell
4e3dd315cb
RC_Channel: fixed double channel assignment
...
this fixes RC_Channel_aux::set_aux_channel_default from assigning
k_heli_rsc twice, once at default channel and once at user designated
channel
2016-06-05 05:54:56 +10:00
Peter Barker
cb16d0b6c6
AP_Math: correct examples build on px4
2016-06-04 12:31:36 -03:00
Andrew Tridgell
be26988b93
AP_Tuning: don't warn of controller errors when disarmed
2016-06-04 19:20:45 +10:00
Andrew Tridgell
9e9a048016
SITL: make heli RPM rpm1 in FlightAxis
2016-06-04 18:33:36 +10:00
Andrew Tridgell
f58d837026
AP_Motors: fixed heli RSC output range and float conversion
...
adds H_RSC_PWM_MIN, H_RSC_PWM_MAX and H_RSC_PWM_REV
2016-06-04 18:33:36 +10:00
Tom Pittenger
a512e807dc
AP_HAL_PX4: disarm motors on reboot so ensure they are off during bootloader upload
2016-06-04 00:42:43 -07:00
Andrew Tridgell
79ffc28f68
SITL: fixed ground accel for helis in FlightAxis
...
fixes landing detection
2016-06-04 15:52:00 +10:00
Andrew Tridgell
7c227ac96c
SITL: debug code for logging raw SITL data
2016-06-04 14:21:21 +10:00
Andrew Tridgell
f6a7c1839a
SITL: use FlightAxis body accel
...
less noisy than rotating early accel
2016-06-04 14:20:55 +10:00
Andrew Tridgell
f6e42cb3e2
SITL: cope with restarting RealFlight while connected
2016-06-04 12:07:03 +10:00
Andrew Tridgell
9c13ac997e
SITL: use FlightAxis accel when not touching the ground
2016-06-04 11:34:57 +10:00
Andrew Tridgell
0b9fca6ef9
SITL: use quaternion attitude from FlightAxis
2016-06-04 11:04:15 +10:00
Tom Pittenger
5df2e57209
AP_HAL_SITL: do not compile terrain class when terrain is not disabled via compile flag
2016-06-03 11:07:36 -07:00
Tom Pittenger
8b405e26ea
GCS_MAVLink: battery2 current is in 10*mAh over mavlink
2016-06-02 16:59:29 -07:00
Tom Pittenger
a8c14e68da
AP_Tuning: compile warning: float to double on print
2016-06-02 16:59:27 -07:00
Tom Pittenger
d2c9b02ca5
AP_BattMonitor: remove voltage2() since we have voltage(x) available
2016-06-02 16:59:26 -07:00
Tom Pittenger
4e4bc0bee4
GCS_MAVLink: use voltage(x) instead of voltage2()
2016-06-02 16:59:23 -07:00
Tom Pittenger
a1564bd337
AP_BattMonitor: check actual battery instances instead of max possible instances
2016-06-02 16:59:21 -07:00
Tom Pittenger
8939c5308f
AP_Arming: check actual battery instances then max possible instances
2016-06-02 16:59:19 -07:00
Tom Pittenger
3ed2fafefa
DataFlash: Log new CUR2 entry for battery2 data
2016-06-02 16:59:16 -07:00
Tom Pittenger
43c7b4d518
DataFlash: do not log CURR.Throttle because it's already logged elsewhere
2016-06-02 16:59:07 -07:00
Tom Pittenger
7a397475af
DataFlash: log POWR.vcc and Vservo as float in volts instead of int16 mV
2016-06-02 16:59:05 -07:00
Tom Pittenger
608fbee867
GCS_MAVLink: send current2 over mavlink
2016-06-02 16:59:03 -07:00
Tom Pittenger
7b4c503052
AP_Math: use new check_latlng helper
2016-06-01 17:38:48 -07:00
Tom Pittenger
ce9ecf9f3d
AP_Math: added check_latlng helper
2016-06-01 17:38:48 -07:00
Tom Pittenger
64c2510be9
AC_AttitudeControl: fix compile warning float to double promotion in string conversion
2016-06-01 17:38:47 -07:00
Andrew Tridgell
b4bdfa2451
AC_AttitudeControl: return roll, pitch and yaw controller error separately
...
as discussed with Leonard
2016-06-01 17:18:58 +10:00
Grant Morphett
d56e2b6a39
APM_Control: Get steer rate using earth frame.
...
Rather then just using the standard z gyro by using the earth frame it
takes into account when a rover leans over in hard corners. My rover
leans 15 degrees no problem which is why this is needed.
2016-06-01 10:05:20 +09:00
Andrew Tridgell
b855c70139
GCS_MAVLink: don't route RADIO and RADIO_STATUS packets
...
they don't mean anything off the local link
2016-05-31 22:13:05 +10:00
Paul Riseborough
24d8cc62e2
AP_NavEKF2: rework yaw and magnetic heading reset logic
...
Splits in-flight yaw alignment completed status into separate yaw and magnetic field flags.
Reduce the number of places where decisions to perform a yaw and field reset are made.
Don't perform a reset unless there is is data in the buffer
Don't use 3-axis fusion if the field states still need to be reset.
When starting 3-axis fusion request a reset if not previously performed.
Ensure magnetometer and GPs heading resets are alwasy perfomred with data at teh correct time horizon.
2016-05-31 16:12:53 +10:00
Andrew Tridgell
a6cbc5d4a5
AP_AHRS: use EKF for groundspeed estimate if available
2016-05-31 15:56:25 +10:00
Leonard Hall
a16018f9fe
AP_Motors: Missed Single fix
2016-05-31 12:44:17 +10:00
Peter Barker
1e146256cc
GCS_MAVLink: move telemetry_delayed up into base class
2016-05-31 08:46:09 +10:00
Grant Morphett
944541b287
PID: Added PID_Info to class for PID logging
2016-05-31 08:44:52 +10:00
Andrew Tridgell
abe850c397
PID: fixed example build
2016-05-31 08:36:14 +10:00
Andrew Tridgell
38965f4617
DataFlash: fixed example build
2016-05-31 08:36:07 +10:00
Andrew Tridgell
04f87a452e
HAL_SITL: fixed tcp client mode
2016-05-30 16:42:28 +10:00
Peter Barker
e828525c94
GCS_MAVLink: adjust_rate_for_stream_trigger is no longer virtual
2016-05-29 21:24:41 +10:00
Peter Barker
43fed65f37
GCS_MAVLink: move adjust_rate_for_stream up
2016-05-29 19:38:49 +10:00
Andrew Tridgell
f4f0ae8c8b
SITL: auto-reconnect FlightAxis on reset button
2016-05-29 19:17:29 +10:00
Peter Barker
03ded35d7c
GCS_MAVLink: update routing example for mavlink namespacing
2016-05-29 16:21:21 +10:00
Peter Barker
56114dd37a
GCS_MAVLink: use subclasses in vehicle directories
...
Instead of the vehicles defining functions that are declared in the libraries directory, they will now create subclasses of GCS_MAVLINK
2016-05-29 16:21:20 +10:00
Leonard Hall
d67f83559c
AP_Motors: Single and Coax Fixes
2016-05-29 16:12:29 +10:00
Leonard Hall
e5bdf0a0a2
SITL: Single and Coax fixes
2016-05-29 16:12:13 +10:00
Andrew Tridgell
26ef71e130
AP_Notify: added tuning error tones
2016-05-28 17:33:30 +10:00
Andrew Tridgell
006aafab3f
AP_Tuning: added monitoring of controller output
2016-05-28 17:33:30 +10:00
Andrew Tridgell
6330060e49
AC_AttitudeControl: added monitoring of controller error
...
use RMS P+I+FF output. Thanks to Leonard for the suggestion
2016-05-28 17:33:30 +10:00
Andrew Tridgell
fdac1d26cc
AP_Tuning: added TUNE_MODE_REVERT parameter
2016-05-28 17:33:30 +10:00
Randy Mackay
72b86a3f99
AP_Motors: remove unused stabilizing flag
...
Also initialise some members to resolve converity warnings
2016-05-28 15:45:29 +09:00
Andrew Tridgell
7ec513668e
GCS_MAVLink: reserve some space when param fetch fails
...
this ensures we give some buffer space for parameter fetch when we are
low on buffer space
we reserve 100 bytes for 2 seconds after a param fetch fails due to
low buffer space
2016-05-28 15:08:46 +10:00
Andrew Tridgell
f02c8f732c
DataFlash: fixed BAR2 format for drift offset
2016-05-28 15:08:46 +10:00
Paul Riseborough
a94a19bd09
AP_NavEKF2: Fix bug causing continual yaw resets
2016-05-28 06:52:11 +10:00
Tom Pittenger
57d6ccc0dd
AP_HAL_PX4: skip the 100ms delay on first px4io safety_state async attempt
2016-05-27 11:30:50 -07:00
Tom Pittenger
d3ac1dc161
AP_HAL: defer calls to safety_state switch to queue an async attempt.
...
- this allows for auto-retries if the state does not set correctly
2016-05-27 21:34:40 +10:00
Tom Pittenger
67aaf7e226
AP_HAL_PX4: defer calls to safety_state switch to queue an async attempt.
...
- this allows for auto-retries if the state does not set correctly
2016-05-27 21:34:40 +10:00
Andrew Tridgell
97e2203e70
AP_NavEKF2: don't do 3D mag fusion on 2nd EKF2 core
...
this reduces the risk that mag fusion errors will badly affect
attitude estimation.
2016-05-27 21:27:06 +10:00
Andrew Tridgell
d17e3b17bf
AP_AHRS: special handling for flying fixed wing with no compass
...
we need to accept EKF having no absolute position and velocity before
takeoff with no compass
2016-05-27 10:18:53 +10:00
Paul Riseborough
de15928921
AP_NavEKF2: prevent potential arithmetic error in declination fusion
2016-05-27 09:00:41 +10:00
Paul Riseborough
722eb0d706
AP_NavEKF2: Fix bug for start of wind speed estimation
...
The commencement of airspeed fusion could cause pitch errors due to small variances and large innovations. This issue is addressed by the following changes:
1) The airspeed measurement is used to set wind states to a value that reduces initial innovations.
2) The wind state variances are set to values that better reflect the wind speed uncertainty
2016-05-27 09:00:41 +10:00
Paul Riseborough
ac329ec31c
AP_NavEKF2: use observation noise to set initial magnetic field variances
2016-05-27 09:00:41 +10:00
Paul Riseborough
830751c0ae
AP_NavEKF2: remove un-wanted functionality from mag and yaw reset
...
The function used to reset magnetic field states and yaw angle should not be used when there is no magnetometer. If it is incorrectly called without a magnetometer it should not change the attitude or field states.
2016-05-27 09:00:41 +10:00
Paul Riseborough
11c6ea7ef6
AP_NavEKF2: attitude co-variance reset for all post alignment yaw resets
...
Whenever the yaw angle is changed, the correlation with other state errors will be incorrect and the terms should be zeroed.
2016-05-27 09:00:41 +10:00
Paul Riseborough
cdd09df9ac
AP_NavEKF: Add function to zero attitude state co-variances
...
When changing the vehicle yaw angle, the correlation between the attitude errors and errors in other states is invalid so the corresponding co-variance terms need to be zeroed.
This needs to be done in more than one place.
2016-05-27 09:00:41 +10:00
Paul Riseborough
6d34ac5ceb
AP_NavEKF2: improve switch-over to use of mag field states
...
Set initial variances to measurement uncertainties
Always perform a field and yaw reset
2016-05-27 09:00:40 +10:00
Paul Riseborough
fe9ddfdfeb
AP_NavEKF2: remove code that prevents attitude updates after mag reset
...
This code assumes a vehicle is close to level and will not work for all vehicle types. It will be replaced by a different method.
2016-05-27 09:00:40 +10:00
Paul Riseborough
fe85c68344
AP_NavEKF2: move yaw reset for no compass case
...
Should not be in a function that performs reset on magnetic field states
2016-05-27 09:00:40 +10:00
Paul Riseborough
da0622827d
AP_NavEKF: update tuning defaults
...
Increase speed of scale factor learning
2016-05-27 09:00:40 +10:00
Andrew Tridgell
4c66e14563
SITL: fixed air resistance bug for heli, balloon and singlecopter
2016-05-26 20:38:20 +10:00
Randy Mackay
d26a9d4a22
SITL: fix compiler warning by defaulting frame_type
2016-05-26 17:03:28 +09:00
Andrew Tridgell
969b6ebea9
HAL_SITL: support coaxcopter in SITL
2016-05-26 17:09:22 +10:00
Andrew Tridgell
a2ed8fb313
AP_Motors: prevent negative thrust
...
this prevents a sqrt of a negative number
2016-05-26 17:09:11 +10:00
Andrew Tridgell
9f33ece3ef
SITL: support coax copter
2016-05-26 17:08:27 +10:00
Andrew Tridgell
6855899cbf
AP_Motors: fixed servo constructor for coax
2016-05-26 16:41:16 +10:00
Andrew Tridgell
4e5e301c4e
AP_Motors: fixed servo constructor for heli
2016-05-26 16:41:06 +10:00
Andrew Tridgell
a80e233836
HAL_SITL: added SingleCopter
2016-05-26 16:30:39 +10:00
Andrew Tridgell
8944d298ed
SITL: added SingleCopter simulator
2016-05-26 16:30:39 +10:00
Andrew Tridgell
f9fb098222
AP_Motors: fixed channel output for SingleCopter
2016-05-26 16:26:43 +10:00
Andrew Tridgell
163783fefd
AP_HAL: define CH_NONE
...
for servos not connected to a channel
2016-05-26 16:26:30 +10:00
Andrew Tridgell
65eb9ceb32
AP_Motors: expose min/max pwm
2016-05-26 14:33:57 +10:00
Andrew Tridgell
dda35a366c
HAL_PX4: prevent rate changes once oneshot is setup
...
this fixes a problem with small motor outputs at the start of a motor
test.
Thanks to Luis for reporting this.
2016-05-26 12:18:49 +10:00
Andrew Tridgell
a44b0e0011
AP_Motors: don't setup oneshot for a zero output mask
2016-05-26 12:18:49 +10:00
Andrew Tridgell
d90a2f7deb
DataFlash: added get_structures() API
...
used in Replay
2016-05-25 20:46:00 +10:00
Andrew Tridgell
ac8c4d9beb
AP_Mount: use zero length flexible arrays in unions
2016-05-25 19:55:49 +10:00
Andrew Tridgell
af116d238f
AP_GPS: use zero length flexible arrays
...
this works with gcc-6.1 and also works with asan. Hopefully it will
make coverity happy too.
2016-05-25 19:55:49 +10:00
Andrew Tridgell
ae3cb0557d
HAL_PX4: disable "Overtime in task" msg
...
this hasn't helped us find any bugs and it is very annoying with nsh
over MAVLink
2016-05-25 12:35:42 +10:00
Paul Riseborough
9eef97d108
AP_NavEKF2: use consistent parameter naming
...
M_NSE is a measurement noise
P_NSE is a observation noise
I_GATE is an innovation gate
This also ensures the new parameter values required to use the EKF2 will be enforced.
2016-05-25 12:06:04 +10:00
Fredrik Hedberg
75d5c87788
AP_Motors: Fix setpoint bug with 0~1 conversion in AP_MotorsHeli
2016-05-25 09:27:40 +09:00
Andrew Tridgell
1fd4cbffb2
DataFlash: update for changed AP_Airspeed API
2016-05-24 17:00:56 +10:00
Andrew Tridgell
4131b98f8c
AP_Airspeed: use non-blocking airspeed calibration
...
this prevents the EKF from being upset by a time jump
2016-05-24 17:00:56 +10:00
Andrew Tridgell
1581a5e354
AP_Param: fixed forced save of constructor override parameters
...
this fixes the problem where setting ATC_RAT_YAW_FILT to 20 in copter
didn't stick across reboots
2016-05-24 16:55:45 +10:00